[SymForce] Ruff upgrade 0.1.7->0.3.2

GitOrigin-RevId: 1bf0204f2ceb91f0e31e649b891d21bc2013e536

cmake/rerun_if_needed.py

@@ -11,6 +11,7 @@
 
 For builds not in a git repo, we just run the command every time.
 """
+
 from __future__ import print_function
 
 import argparse

dev_requirements.txt

@@ -277,7 +277,7 @@ rpds-py==0.18.0
     # via
     #   jsonschema
     #   referencing
-ruff==0.1.15
+ruff==0.3.2
     # via symforce (setup.py)
 scipy==1.10.1
     # via symforce (setup.py)

setup.py

@@ -458,7 +458,7 @@ def fixed_readme() -> str:
                 # NOTE(aaron): v1.0 changed lots of things, we'll need to update and regenerate
                 "pybind11-stubgen<1.0",
                 "pylint",
-                "ruff~=0.1.7",
+                "ruff~=0.3.2",
                 # NOTE(brad): A transitive dependency of pylint. Added here only to pin the version.
                 "lazy-object-proxy>=1.9.0",
                 "types-jinja2",

symforce/benchmarks/matrix_multiplication/matrices/fetch_matrices.py

@@ -6,6 +6,7 @@
 """
 Script to download the matrices used for the benchmark into this folder, in Matrix Market format.
 """
+
 import ssgetpy  # type: ignore
 
 # Matrix ID's used by the benchmark

symforce/cam/__init__.py

@@ -6,6 +6,7 @@
 """
 Package for symbolic camera models.
 """
+
 from .atan_camera_cal import ATANCameraCal
 from .camera import Camera
 from .camera_cal import CameraCal

symforce/cc_sym.py

@@ -6,6 +6,7 @@
 """
 Locate and re-export cc_sym as symforce.cc_sym
 """
+
 import logging as _logging
 import os
 import sys

symforce/codegen/slam_factors_codegen.py

@@ -12,6 +12,7 @@
 cameras that do not have backprojection, it instead operates on a ray in the source camera frame and
 a pixel in the target camera.
 """
+
 import functools
 from pathlib import Path
 

symforce/examples/bundle_adjustment_fixed_size/build_values.py

@@ -6,6 +6,7 @@
 """
 This file builds a Values with all symbols needed for the fixed-size example.
 """
+
 import symforce.symbolic as sf
 from symforce.values import Values
 

symforce/python_util.py

@@ -6,6 +6,7 @@
 """
 General python utilities.
 """
+
 import asyncio
 import functools
 import inspect

symforce/typing.py

@@ -6,6 +6,7 @@
 """
 Common type definitions.
 """
+
 import abc
 import dataclasses
 import os

symforce/values/values.py

@@ -463,9 +463,9 @@ def storage_D_tangent(self) -> geo.Matrix:
         for v in self.values():
             s_dim = ops.StorageOps.storage_dim(v)
             t_dim = ops.LieGroupOps.tangent_dim(v)
-            storage_D_tangent[
-                s_inx : s_inx + s_dim, t_inx : t_inx + t_dim
-            ] = ops.LieGroupOps.storage_D_tangent(v)
+            storage_D_tangent[s_inx : s_inx + s_dim, t_inx : t_inx + t_dim] = (
+                ops.LieGroupOps.storage_D_tangent(v)
+            )
             s_inx += s_dim
             t_inx += t_dim
         return storage_D_tangent
@@ -483,9 +483,9 @@ def tangent_D_storage(self) -> geo.Matrix:
         for v in self.values():
             t_dim = ops.LieGroupOps.tangent_dim(v)
             s_dim = ops.StorageOps.storage_dim(v)
-            tangent_D_storage[
-                t_inx : t_inx + t_dim, s_inx : s_inx + s_dim
-            ] = ops.LieGroupOps.tangent_D_storage(v)
+            tangent_D_storage[t_inx : t_inx + t_dim, s_inx : s_inx + s_dim] = (
+                ops.LieGroupOps.tangent_D_storage(v)
+            )
             t_inx += t_dim
             s_inx += s_dim
         return tangent_D_storage

test/cam_package_python_test.py

@@ -134,12 +134,9 @@ def test_pixel_from_camera_point_ATANCameraCal(self):
         np.testing.assert_allclose(pixel, np.array([4.43702966477849, 7.83207910607598]))
         self.assertEqual(is_valid, 1.0)
 
-        (
-            j_pixel,
-            j_is_valid,
-            pixel_D_cal,
-            pixel_D_point,
-        ) = cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        j_pixel, j_is_valid, pixel_D_cal, pixel_D_point = (
+            cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_pixel, np.array([4.43702966477849, 7.83207910607598]))
         self.assertEqual(j_is_valid, 1.0)
@@ -160,12 +157,9 @@ def test_camera_ray_from_pixel_ATANCameraCal(self):
         np.testing.assert_allclose(ray, np.array([-12.60188996700083, -8.401259978000553, 1.0]))
         self.assertEqual(is_valid, 1.0)
 
-        (
-            j_ray,
-            j_is_valid,
-            point_D_cal,
-            point_D_pixel,
-        ) = cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        j_ray, j_is_valid, point_D_cal, point_D_pixel = (
+            cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_ray, np.array([-12.60188996700083, -8.401259978000553, 1.0]))
         self.assertEqual(j_is_valid, 1.0)
@@ -260,12 +254,9 @@ def test_pixel_from_camera_point_DoubleSphereCameraCal(self):
         np.testing.assert_allclose(pixel, np.array([3.12417556254144, 4.33113483344385]))
         self.assertEqual(is_valid, 1.0)
 
-        (
-            j_pixel,
-            j_is_valid,
-            pixel_D_cal,
-            pixel_D_point,
-        ) = cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        j_pixel, j_is_valid, pixel_D_cal, pixel_D_point = (
+            cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_pixel, np.array([3.12417556254144, 4.33113483344385]))
         self.assertEqual(j_is_valid, 1.0)
@@ -288,12 +279,9 @@ def test_camera_ray_from_pixel_DoubleSphereCameraCal(self):
         )
         self.assertEqual(is_valid, 0.0)
 
-        (
-            j_ray,
-            j_is_valid,
-            point_D_cal,
-            point_D_pixel,
-        ) = cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        j_ray, j_is_valid, point_D_cal, point_D_pixel = (
+            cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(
             j_ray, np.array([-1.7554218715299938, -1.1702812476866626, -1.117691027921969])
@@ -389,12 +377,9 @@ def test_pixel_from_camera_point_EquirectangularCameraCal(self):
         np.testing.assert_allclose(pixel, np.array([4.24904574989825, 5.80366449289037]))
         self.assertEqual(is_valid, 1.0)
 
-        (
-            j_pixel,
-            j_is_valid,
-            pixel_D_cal,
-            pixel_D_point,
-        ) = cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        j_pixel, j_is_valid, pixel_D_cal, pixel_D_point = (
+            cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_pixel, np.array([4.24904574989825, 5.80366449289037]))
         self.assertEqual(j_is_valid, 1.0)
@@ -417,12 +402,9 @@ def test_camera_ray_from_pixel_EquirectangularCameraCal(self):
         )
         self.assertEqual(is_valid, 0.0)
 
-        (
-            j_ray,
-            j_is_valid,
-            point_D_cal,
-            point_D_pixel,
-        ) = cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        j_ray, j_is_valid, point_D_cal, point_D_pixel = (
+            cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(
             j_ray, np.array([0.019723202204202806, -0.9995736030415051, 0.021531544241776817])
@@ -518,12 +500,9 @@ def test_pixel_from_camera_point_LinearCameraCal(self):
         np.testing.assert_allclose(pixel, np.array([6.0, 12.0]))
         self.assertEqual(is_valid, 1.0)
 
-        (
-            j_pixel,
-            j_is_valid,
-            pixel_D_cal,
-            pixel_D_point,
-        ) = cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        j_pixel, j_is_valid, pixel_D_cal, pixel_D_point = (
+            cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_pixel, np.array([6.0, 12.0]))
         self.assertEqual(j_is_valid, 1.0)
@@ -544,12 +523,9 @@ def test_camera_ray_from_pixel_LinearCameraCal(self):
         np.testing.assert_allclose(ray, np.array([-2.4, -1.6, 1.0]))
         self.assertEqual(is_valid, 1.0)
 
-        (
-            j_ray,
-            j_is_valid,
-            point_D_cal,
-            point_D_pixel,
-        ) = cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        j_ray, j_is_valid, point_D_cal, point_D_pixel = (
+            cam_cal.camera_ray_from_pixel_with_jacobians(pixel=pixel, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_ray, np.array([-2.4, -1.6, 1.0]))
         self.assertEqual(j_is_valid, 1.0)
@@ -652,12 +628,9 @@ def test_pixel_from_camera_point_PolynomialCameraCal(self):
         np.testing.assert_allclose(pixel, np.array([289.8750003573, 769.0000009528001]))
         self.assertEqual(is_valid, 0.0)
 
-        (
-            j_pixel,
-            j_is_valid,
-            pixel_D_cal,
-            pixel_D_point,
-        ) = cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        j_pixel, j_is_valid, pixel_D_cal, pixel_D_point = (
+            cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_pixel, np.array([289.8750003573, 769.0000009528001]))
         self.assertEqual(j_is_valid, 0.0)
@@ -763,12 +736,9 @@ def test_pixel_from_camera_point_SphericalCameraCal(self):
         np.testing.assert_allclose(pixel, np.array([3.82821053086175, 6.20856141563133]))
         self.assertEqual(is_valid, 1.0)
 
-        (
-            j_pixel,
-            j_is_valid,
-            pixel_D_cal,
-            pixel_D_point,
-        ) = cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        j_pixel, j_is_valid, pixel_D_cal, pixel_D_point = (
+            cam_cal.pixel_from_camera_point_with_jacobians(point=point, epsilon=1e-08)
+        )
 
         np.testing.assert_allclose(j_pixel, np.array([3.82821053086175, 6.20856141563133]))
         self.assertEqual(j_is_valid, 1.0)